Date of download: 7/28/2017
Copyright © ASME. All rights reserved.
From: Disturbance Response of Two-Link Underactuated Serial-Link Chains
J. Mechanisms Robotics. 2012;4(2):021013-021013-10. doi:10.1115/1.4006279
Figure Legend:
Ratio of external force magnitude to the change in object contact normal force and actuator force for object contact on each side of
the equilibrium point. The equilibrium point e is indicated by × in the inset figure and the object location constraint is proximal to
the equilibrium point in the (a) and distal in (b).